KaneAI - World’s First E2E Software Testing Agent.Book a Demo Join TestMu Conference

How to use _msg method in prospector

Best Python code snippet using prospector_python

test_modification.py

Source:test_modification.py

...43        else:44            App.newDocument(self.doc_name)45        App.setActiveDocument(self.doc_name)46        self.doc = App.ActiveDocument47        _msg("  Temporary document '{}'".format(self.doc_name))48    def test_move(self):49        """Create a line and move it."""50        operation = "Draft Move"51        _msg("  Test '{}'".format(operation))52        a = Vector(0, 2, 0)53        b = Vector(2, 2, 0)54        _msg("  Line")55        _msg("  a={0}, b={1}".format(a, b))56        obj = Draft.make_line(a, b)57        c = Vector(3, 1, 0)58        _msg("  Translation vector")59        _msg("  c={}".format(c))60        Draft.move(obj, c)61        self.assertTrue(obj.Start == Vector(3, 3, 0),62                        "'{}' failed".format(operation))63    def test_copy(self):64        """Create a line, then copy and move it."""65        operation = "Draft Move with copy"66        _msg("  Test '{}'".format(operation))67        a = Vector(0, 3, 0)68        b = Vector(2, 3, 0)69        _msg("  Line")70        _msg("  a={0}, b={1}".format(a, b))71        line = Draft.make_line(a, b)72        c = Vector(2, 2, 0)73        _msg("  Translation vector (copy)")74        _msg("  c={}".format(c))75        obj = Draft.move(line, c, copy=True)76        self.assertTrue(obj, "'{}' failed".format(operation))77    def test_rotate(self):78        """Create a line, then rotate it."""79        operation = "Draft Rotate"80        _msg("  Test '{}'".format(operation))81        a = Vector(1, 1, 0)82        b = Vector(3, 1, 0)83        _msg("  Line")84        _msg("  a={0}, b={1}".format(a, b))85        obj = Draft.make_line(a, b)86        App.ActiveDocument.recompute()87        c = Vector(-1, 1, 0)88        rot = 9089        _msg("  Rotation")90        _msg("  angle={} degrees".format(rot))91        Draft.rotate(obj, rot)92        self.assertTrue(obj.Start.isEqual(c, 1e-12),93                        "'{}' failed".format(operation))94    def test_offset_open(self):95        """Create a wire, then produce an offset copy."""96        operation = "Draft Offset"97        _msg("  Test '{}'".format(operation))98        a = Vector(0, 2, 0)99        b = Vector(2, 4, 0)100        c = Vector(5, 2, 0)101        _msg("  Wire")102        _msg("  a={0}, b={1}".format(a, b))103        _msg("  c={0}".format(c))104        wire = Draft.make_wire([a, b, c])105        App.ActiveDocument.recompute()106        offset = Vector(-1, 1, 0)107        _msg("  Offset")108        _msg("  vector={}".format(offset))109        obj = Draft.offset(wire, offset, copy=True)110        self.assertTrue(obj, "'{}' failed".format(operation))111    def test_offset_closed(self):112        """Create a rectangle, then produce an offset copy."""113        operation = "Draft Offset"114        _msg("  Test '{}'".format(operation))115        length = 4116        width = 2117        _msg("  Rectangle")118        _msg("  length={0}, width={1}".format(length, width))119        rect = Draft.make_rectangle(length, width)120        App.ActiveDocument.recompute()121        offset = Vector(-1, -1, 0)122        _msg("  Offset")123        _msg("  vector={}".format(offset))124        obj = Draft.offset(rect, offset, copy=True)125        self.assertTrue(obj, "'{}' failed".format(operation))126    def test_trim(self):127        """Trim a line. NOT IMPLEMENTED."""128        operation = "Draft Trimex trim"129        _msg("  Test '{}'".format(operation))130        a = Vector(0, 0, 0)131        b = Vector(3, 3, 0)132        _msg("  Line")133        _msg("  a={0}, b={1}".format(a, b))134        line = Draft.make_line(a, b)135        c = Vector(2, 2, 0)136        d = Vector(4, 2, 0)137        _msg("  Line 2")138        _msg("  c={0}, d={1}".format(c, d))139        line2 = Draft.make_line(c, d)140        App.ActiveDocument.recompute()141        Draft.trim_objects = aux.fake_function142        obj = Draft.trim_objects(line, line2)143        self.assertTrue(obj, "'{}' failed".format(operation))144    def test_extend(self):145        """Extend a line. NOT IMPLEMENTED."""146        operation = "Draft Trimex extend"147        _msg("  Test '{}'".format(operation))148        a = Vector(0, 0, 0)149        b = Vector(1, 1, 0)150        _msg("  Line")151        _msg("  a={0}, b={1}".format(a, b))152        line = Draft.make_line(a, b)153        c = Vector(2, 2, 0)154        d = Vector(4, 2, 0)155        _msg("  Line 2")156        _msg("  c={0}, d={1}".format(c, d))157        line2 = Draft.make_line(c, d)158        App.ActiveDocument.recompute()159        Draft.extrude = aux.fake_function160        obj = Draft.extrude(line, line2)161        self.assertTrue(obj, "'{}' failed".format(operation))162    def test_join(self):163        """Join two lines into a single Draft Wire."""164        operation = "Draft Join"165        _msg("  Test '{}'".format(operation))166        a = Vector(0, 0, 0)167        b = Vector(2, 2, 0)168        c = Vector(2, 4, 0)169        _msg("  Line 1")170        _msg("  a={0}, b={1}".format(a, b))171        _msg("  Line 2")172        _msg("  b={0}, c={1}".format(b, c))173        line_1 = Draft.make_line(a, b)174        line_2 = Draft.make_line(b, c)175        # obj = Draft.join_wires([line_1, line_2])  # Multiple wires176        obj = Draft.join_two_wires(line_1, line_2)177        self.assertTrue(obj, "'{}' failed".format(operation))178    def test_split(self):179        """Split a Draft Wire into two Draft Wires."""180        operation = "Draft_Split"181        _msg("  Test '{}'".format(operation))182        a = Vector(0, 0, 0)183        b = Vector(2, 2, 0)184        c = Vector(2, 4, 0)185        d = Vector(6, 4, 0)186        _msg("  Wire")187        _msg("  a={0}, b={1}".format(a, b))188        _msg("  c={0}, d={1}".format(c, d))189        wire = Draft.make_wire([a, b, c, d])190        index = 1191        _msg("  Split at")192        _msg("  p={0}, index={1}".format(b, index))193        obj = Draft.split(wire, b, index)194        # TODO: split needs to be modified so that it returns True or False.195        # Then checking for Wire001 is not needed196        if App.ActiveDocument.Wire001:197            obj = True198        self.assertTrue(obj, "'{}' failed".format(operation))199    def test_upgrade(self):200        """Upgrade two Draft Lines into a closed Draft Wire."""201        operation = "Draft Upgrade"202        _msg("  Test '{}'".format(operation))203        a = Vector(0, 0, 0)204        b = Vector(2, 2, 0)205        c = Vector(2, 4, 0)206        _msg("  Line 1")207        _msg("  a={0}, b={1}".format(a, b))208        _msg("  Line 2")209        _msg("  b={0}, c={1}".format(b, c))210        line_1 = Draft.make_line(a, b)211        line_2 = Draft.make_line(b, c)212        App.ActiveDocument.recompute()213        obj = Draft.upgrade([line_1, line_2], delete=True)214        App.ActiveDocument.recompute()215        s = obj[0][0]216        _msg("  1: Result '{0}' ({1})".format(s.Shape.ShapeType, s.TypeId))217        self.assertTrue(bool(obj[0]), "'{}' failed".format(operation))218        obj2 = Draft.upgrade(obj[0], delete=True)219        App.ActiveDocument.recompute()220        s2 = obj2[0][0]221        _msg("  2: Result '{0}' ({1})".format(s2.Shape.ShapeType,222                                              s2.TypeId))223        self.assertTrue(bool(obj2[0]), "'{}' failed".format(operation))224        obj3 = Draft.upgrade(obj2[0], delete=True)225        App.ActiveDocument.recompute()226        s3 = obj3[0][0]227        _msg("  3: Result '{0}' ({1})".format(s3.Shape.ShapeType, s3.TypeId))228        self.assertTrue(bool(obj3[0]), "'{}' failed".format(operation))229        obj4 = Draft.upgrade(obj3[0], delete=True)230        App.ActiveDocument.recompute()231        wire = App.ActiveDocument.Wire232        _msg("  4: Result '{0}' ({1})".format(wire.Proxy.Type, wire.TypeId))233        _msg("  The last object cannot be upgraded further")234        self.assertFalse(bool(obj4[0]), "'{}' failed".format(operation))235    def test_downgrade(self):236        """Downgrade a closed Draft Wire into three simple Part Edges."""237        operation = "Draft Downgrade"238        _msg("  Test '{}'".format(operation))239        a = Vector(0, 0, 0)240        b = Vector(2, 2, 0)241        c = Vector(2, 4, 0)242        _msg("  Closed wire")243        _msg("  a={0}, b={1}".format(a, b))244        _msg("  c={0}, a={1}".format(c, a))245        wire = Draft.make_wire([a, b, c, a])246        App.ActiveDocument.recompute()247        obj = Draft.downgrade(wire, delete=True)248        App.ActiveDocument.recompute()249        s = obj[0][0]250        _msg("  1: Result '{0}' ({1})".format(s.Shape.ShapeType, s.TypeId))251        self.assertTrue(bool(obj[0]), "'{}' failed".format(operation))252        obj2 = Draft.downgrade(obj[0], delete=True)253        App.ActiveDocument.recompute()254        s2 = obj2[0][0]255        _msg("  2: Result '{0}' ({1})".format(s2.Shape.ShapeType, s2.TypeId))256        self.assertTrue(bool(obj2[0]), "'{}' failed".format(operation))257        obj3 = Draft.downgrade(obj2[0], delete=True)258        App.ActiveDocument.recompute()259        s3 = obj3[0][0]260        _msg("  3: Result 3 x '{0}' ({1})".format(s3.Shape.ShapeType,261                                                  s3.TypeId))262        self.assertTrue(len(obj3[0]) == 3, "'{}' failed".format(operation))263        obj4 = Draft.downgrade(obj3[0], delete=True)264        App.ActiveDocument.recompute()265        s4 = obj4[0]266        _msg("  4: Result '{}'".format(s4))267        _msg("  The last objects cannot be downgraded further")268        self.assertFalse(bool(obj4[0]), "'{}' failed".format(operation))269    def test_wire_to_bspline(self):270        """Convert a polyline to BSpline and back."""271        operation = "Draft WireToBSpline"272        _msg("  Test '{}'".format(operation))273        a = Vector(0, 0, 0)274        b = Vector(2, 2, 0)275        c = Vector(2, 4, 0)276        _msg("  Wire")277        _msg("  a={0}, b={1}".format(a, b))278        _msg("  c={}".format(c))279        wire = Draft.make_wire([a, b, c])280        obj = Draft.make_bspline(wire.Points)281        App.ActiveDocument.recompute()282        _msg("  1: Result '{0}' ({1})".format(obj.Proxy.Type, obj.TypeId))283        self.assertTrue(obj, "'{}' failed".format(operation))284        obj2 = Draft.make_wire(obj.Points)285        _msg("  2: Result '{0}' ({1})".format(obj2.Proxy.Type, obj2.TypeId))286        self.assertTrue(obj2, "'{}' failed".format(operation))287    def test_shape_2d_view(self):288        """Create a prism and then a 2D projection of it."""289        operation = "Draft Shape2DView"290        _msg("  Test '{}'".format(operation))291        prism = App.ActiveDocument.addObject("Part::Prism")292        prism.Polygon = 5293        # Rotate the prism 45 degrees around the Y axis294        prism.Placement.Rotation.Axis = Vector(0, 1, 0)295        prism.Placement.Rotation.Angle = 45 * (3.14159/180)296        _msg("  Prism")297        _msg("  n_sides={}".format(prism.Polygon))298        _msg("  placement={}".format(prism.Placement))299        direction = Vector(0, 0, 1)300        _msg("  Projection 2D view")301        _msg("  direction={}".format(direction))302        obj = Draft.make_shape2dview(prism, direction)303        self.assertTrue(obj, "'{}' failed".format(operation))304    def test_draft_to_sketch(self):305        """Convert a Draft object to a Sketch and back."""306        operation = "Draft Draft2Sketch"307        _msg("  Test '{}'".format(operation))308        a = Vector(0, 0, 0)309        b = Vector(2, 2, 0)310        c = Vector(2, 4, 0)311        _msg("  Wire")312        _msg("  a={0}, b={1}".format(a, b))313        _msg("  c={}".format(c))314        wire = Draft.make_wire([a, b, c])315        App.ActiveDocument.recompute()316        obj = Draft.make_sketch(wire, autoconstraints=True)317        App.ActiveDocument.recompute()318        _msg("  1: Result '{0}' ({1})".format(obj.Shape.ShapeType,319                                              obj.TypeId))320        self.assertTrue(obj, "'{}' failed".format(operation))321        obj2 = Draft.draftify(obj, delete=False)322        App.ActiveDocument.recompute()323        _msg("  2: Result '{0}' ({1})".format(obj2.Proxy.Type,324                                              obj2.TypeId))325        self.assertTrue(obj2, "'{}' failed".format(operation))326    def test_rectangular_array(self):327        """Create a rectangle, and a rectangular array."""328        operation = "Draft OrthoArray"329        _msg("  Test '{}'".format(operation))330        length = 4331        width = 2332        _msg("  Rectangle")333        _msg("  length={0}, width={1}".format(length, width))334        rect = Draft.make_rectangle(length, width)335        App.ActiveDocument.recompute()336        dir_x = Vector(5, 0, 0)337        dir_y = Vector(0, 4, 0)338        dir_z = Vector(0, 0, 6)339        number_x = 3340        number_y = 4341        number_z = 6342        _msg("  Array")343        _msg("  direction_x={}".format(dir_x))344        _msg("  direction_y={}".format(dir_y))345        _msg("  direction_z={}".format(dir_z))346        _msg("  number_x={0}, number_y={1}, number_z={2}".format(number_x,347                                                                 number_y,348                                                                 number_z))349        obj = Draft.make_ortho_array(rect,350                                     dir_x, dir_y, dir_z,351                                     number_x, number_y, number_z)352        self.assertTrue(obj, "'{}' failed".format(operation))353    def test_polar_array(self):354        """Create a rectangle, and a polar array."""355        operation = "Draft PolarArray"356        _msg("  Test '{}'".format(operation))357        length = 4358        width = 2359        _msg("  Rectangle")360        _msg("  length={0}, width={1}".format(length, width))361        rect = Draft.make_rectangle(length, width)362        App.ActiveDocument.recompute()363        center = Vector(-4, 0, 0)364        angle = 180365        number = 5366        _msg("  Array")367        _msg("  number={0}, polar_angle={1}".format(number, angle))368        _msg("  center={}".format(center))369        obj = Draft.make_polar_array(rect,370                                     number, angle, center)371        self.assertTrue(obj, "'{}' failed".format(operation))372    def test_circular_array(self):373        """Create a rectangle, and a circular array."""374        operation = "Draft CircularArray"375        _msg("  Test '{}'".format(operation))376        length = 4377        width = 2378        _msg("  Rectangle")379        _msg("  length={0}, width={1}".format(length, width))380        rect = Draft.make_rectangle(length, width)381        App.ActiveDocument.recompute()382        rad_distance = 10383        tan_distance = 8384        axis = Vector(0, 0, 1)385        center = Vector(0, 0, 0)386        number = 3387        symmetry = 1388        _msg("  Array")389        _msg("  radial_distance={0}, "390             "tangential_distance={1}".format(rad_distance, tan_distance))391        _msg("  number={0}, symmetry={1}".format(number, symmetry))392        _msg("  axis={}".format(axis))393        _msg("  center={}".format(center))394        obj = Draft.make_circular_array(rect,395                                        rad_distance, tan_distance,396                                        number, symmetry,397                                        axis, center)398        self.assertTrue(obj, "'{}' failed".format(operation))399    def test_path_array(self):400        """Create a wire, a polygon, and a path array."""401        operation = "Draft PathArray"402        _msg("  Test '{}'".format(operation))403        a = Vector(0, 0, 0)404        b = Vector(2, 2, 0)405        c = Vector(2, 4, 0)406        d = Vector(8, 4, 0)407        _msg("  Wire")408        _msg("  a={0}, b={1}".format(a, b))409        _msg("  c={0}, d={1}".format(c, d))410        wire = Draft.make_wire([a, b, c, d])411        n_faces = 3412        radius = 1413        _msg("  Polygon")414        _msg("  n_faces={0}, radius={1}".format(n_faces, radius))415        poly = Draft.make_polygon(n_faces, radius)416        number = 4417        translation = Vector(0, 1, 0)418        align = False419        _msg("  Path Array")420        _msg("  number={}, translation={}".format(number, translation))421        _msg("  align={}".format(align))422        obj = Draft.make_path_array(poly, wire, number, translation, align)423        self.assertTrue(obj, "'{}' failed".format(operation))424    def test_point_array(self):425        """Create a polygon, various point, and a point array."""426        operation = "Draft PointArray"427        _msg("  Test '{}'".format(operation))428        a = Vector(0, 0, 0)429        b = Vector(2, 2, 0)430        c = Vector(2, 4, 0)431        d = Vector(8, 4, 0)432        _msg("  Points")433        _msg("  a={0}, b={1}".format(a, b))434        _msg("  c={0}, d={1}".format(c, d))435        points = [Draft.make_point(a),436                  Draft.make_point(b),437                  Draft.make_point(c),438                  Draft.make_point(d)]439        _msg("  Upgrade")440        add, delete = Draft.upgrade(points)441        compound = add[0]442        n_faces = 3443        radius = 1444        _msg("  Polygon")445        _msg("  n_faces={0}, radius={1}".format(n_faces, radius))446        poly = Draft.make_polygon(n_faces, radius)447        _msg("  Point Array")448        obj = Draft.make_point_array(poly, compound)449        self.assertTrue(obj, "'{}' failed".format(operation))450    def test_clone(self):451        """Create a box, then create a clone of it.452        Test for a bug introduced by changes in attachment code.453        """454        operation = "Draft Clone"455        _msg("  Test '{}'".format(operation))456        box = App.ActiveDocument.addObject("Part::Box")457        App.ActiveDocument.recompute()458        _msg("  object: '{0}' ({1})".format(box.Shape.ShapeType, box.TypeId))459        obj = Draft.make_clone(box)460        _msg("  clone: '{0}' ({1})".format(obj.Proxy.Type, obj.TypeId))461        self.assertTrue(obj, "'{}' failed".format(operation))462        self.assertTrue(obj.hasExtension("Part::AttachExtension"),463                        "'{}' failed".format(operation))464    def test_draft_to_drawing(self):465        """Create a solid, and then a projected view in a Drawing page."""466        operation = "Draft Drawing"467        _msg("  Test '{}'".format(operation))468        _wrn("  The Drawing Workbench is obsolete since 0.17,")469        _wrn("  consider using the TechDraw Workbench instead")470        prism = App.ActiveDocument.addObject("Part::Prism")471        prism.Polygon = 5472        # Rotate the prism 45 degrees around the Y axis473        prism.Placement.Rotation.Axis = Vector(0, 1, 0)474        prism.Placement.Rotation.Angle = 45 * (3.14159/180)475        _msg("  Prism")476        _msg("  n_sides={}".format(prism.Polygon))477        _msg("  placement={}".format(prism.Placement))478        svg_template = 'Mod/Drawing/Templates/A3_Landscape.svg'479        template = Draft.get_param("template",480                                   App.getResourceDir() + svg_template)481        page = App.ActiveDocument.addObject('Drawing::FeaturePage')482        page.Template = template483        _msg("  Drawing view")484        _msg("  page={}".format(page.TypeId))485        _msg("  template={}".format(page.Template))486        obj = Draft.makeDrawingView(prism, page, otherProjection=None)487        self.assertTrue(obj, "'{}' failed".format(operation))488    def test_mirror(self):489        """Create a rectangle, then a mirrored shape."""490        operation = "Draft Mirror"491        _msg("  Test '{}'".format(operation))492        length = 4493        width = 2494        _msg("  Rectangle")495        _msg("  length={0}, width={1}".format(length, width))496        rect = Draft.make_rectangle(length, width)497        # App.ActiveDocument.recompute()498        p1 = Vector(6, -2, 0)499        p2 = Vector(6, 2, 0)500        _msg("  Mirror axis")501        _msg("  p1={}".format(p1))502        _msg("  p2={}".format(p2))503        obj = Draft.mirror(rect, p1, p2)504        self.assertTrue(obj, "'{}' failed".format(operation))505    def test_stretch(self):506        """Stretch a line. NOT IMPLEMENTED."""507        operation = "Draft Stretch"508        _msg("  Test '{}'".format(operation))509        _msg("  This test requires an object and a selection")510        a = Vector(0, 0, 0)511        b = Vector(1, 1, 0)512        _msg("  Line")513        _msg("  a={0}, b={1}".format(a, b))514        line = Draft.make_line(a, b)515        direction = Vector(4, 1, 0)516        Draft.stretch = aux.fake_function517        obj = Draft.stretch(line, direction)518        self.assertTrue(obj, "'{}' failed".format(operation))519    def tearDown(self):520        """Finish the test.521        This is executed after each test, so we close the document.522        """...

allegroCtrl.py

Source:allegroCtrl.py

1#%%2import sys3sys.path.append("/Users/user/Downloads/PCAN-Basic API/samples/python")4from PCANBasic import *5from math import pi, degrees, radians6import threading, time, struct7import numpy as np89# CAN Comm. Instance10pcan = PCANBasic()1112# Define CAN Channel13PCAN_CH = PCAN_USBBUS114CAN_ID  = 01516# Define Baud-Rate17PCAN_BAUD = PCAN_BAUD_1M1819# Define ID20SET_TORQUE_1 = 0x60+021SET_TORQUE_2 = 0x60+122SET_TORQUE_3 = 0x60+223SET_TORQUE_4 = 0x60+324SET_PERIOD   = 0x8125SET_POSE_1   = 0xE0+026SET_POSE_2   = 0xE0+127SET_POSE_3   = 0xE0+228SET_POSE_4   = 0xE0+329CMD_SYS_ON   = 0x4030CMD_SYS_OFF  = 0x4131FINGER_POS_1 = 0x20+032FINGER_POS_2 = 0x20+133FINGER_POS_3 = 0x20+234FINGER_POS_4 = 0x20+335# ID List36FINGER_IDS   = [FINGER_POS_1, FINGER_POS_2, FINGER_POS_3, FINGER_POS_4]37POSE_IDS     = [SET_POSE_1, SET_POSE_2, SET_POSE_3, SET_POSE_4]38TORQUE_IDS   = [SET_TORQUE_1, SET_TORQUE_2, SET_TORQUE_3, SET_TORQUE_4]3940# Define MSG Type41RTR_MSG = PCAN_MESSAGE_RTR42STD_MSG = PCAN_MESSAGE_STANDARD4344# Define Constant45MAX_BUS = 256 # 25646MAX_DOF = 16  # 1647HZ      = 333.348RESOL   = 65536.04950# Define PWM Limit for Fingers except Thumb51PWM_LIMIT_ROLL = 250.0 * 1.552PWM_LIMIT_NEAR = 450.0 * 1.553PWM_LIMIT_MID  = 300.0 * 1.554PWM_LIMIT_FAR  = 190.0 * 1.55556# PWM Limit For Thumb57PWM_LIMIT_T_ROLL = 350.0 * 1.558PWM_LIMIT_T_NEAR = 270.0 * 1.559PWM_LIMIT_T_MID  = 180.0 * 1.560PWM_LIMIT_T_FAR  = 180.0 * 1.56162# Torque Conversion Constant63TAU_CONV_CONST   = 1200.064PWM_ABS_LIMIT    = 1200.0656667# Initializing CAN Comm.68res = pcan.Initialize(PCAN_CH, PCAN_BAUD)6970homePos = [ 0,  10, 45, 45,71            0, -10, 45, 45,72            5,  -5, 50, 45,73           60,  25, 15, 45]7475""" Define Function """76def cmd_req_finger_pose(_ch, _ind) :77    if _ind == "a" :78        _j = np.zeros((4, 4))79    else :80        _j = np.zeros((1, 4))81    if _ind == "a" :82        for _i, _ID in enumerate(FINGER_IDS) :83            _msg = TPCANMsg()84            _msg.ID  = (_ID << 2) | CAN_ID85            _msg.LEN = 086            _msg.MSGTYPE = RTR_MSG87            _res = pcan.Write(_ch, _msg)88            _res = pcan.Read(_ch)89            # if _res[0] != PCAN_ERROR_QRCVEMPTY :90            if _res[1].LEN > 0 :91                # print("LENGTH", _res[1].LEN)92                _data1 = round((_res[1].DATA[0] | (_res[1].DATA[1] << 8))*HZ/RESOL, 2)93                _data2 = round((_res[1].DATA[2] | (_res[1].DATA[3] << 8))*HZ/RESOL, 2)94                _data3 = round((_res[1].DATA[4] | (_res[1].DATA[5] << 8))*HZ/RESOL, 2)95                _data4 = round((_res[1].DATA[6] | (_res[1].DATA[7] << 8))*HZ/RESOL, 2)96                print("FINGER_%s" %(_ID-31), "%6.2f deg" %(_data1), 97                      "%6.2f deg" %(_data2), "%6.2f deg" %(_data3), "%6.2f deg" %(_data4))98                _j[_i, 0] = _data199                _j[_i, 1] = _data2100                _j[_i, 2] = _data3101                _j[_i, 3] = _data4102    else :103        _msg = TPCANMsg()104        _ID  = FINGER_POS_1105        _msg.ID  = (_ID << 2) | CAN_ID106        _msg.LEN = 0107        _msg.MSGTYPE = RTR_MSG108        _res = pcan.Write(_ch, _msg)109        _res = pcan.Read(_ch)110        # if _res[0] != PCAN_ERROR_QRCVEMPTY :111        if _res[1].LEN > 0 :112            # print("LENGTH", _res[1].LEN)113            _data1 = round((_res[1].DATA[0] | (_res[1].DATA[1] << 8))*HZ/RESOL, 2)114            _data2 = round((_res[1].DATA[2] | (_res[1].DATA[3] << 8))*HZ/RESOL, 2)115            _data3 = round((_res[1].DATA[4] | (_res[1].DATA[5] << 8))*HZ/RESOL, 2)116            _data4 = round((_res[1].DATA[6] | (_res[1].DATA[7] << 8))*HZ/RESOL, 2)117            # print("FINGER_%s" %(_ID-31), "%6.2f deg" %(_data1), 118            #      "%6.2f deg" %(_data2), "%6.2f deg" %(_data3), "%6.2f deg" %(_data4))119            _j[0, 0] = _data1120            _j[0, 1] = _data2121            _j[0, 2] = _data3122            _j[0, 3] = _data4123            # _j.append(_tmp)124    return _j125126def cmd_set_finger_pose(_ch, _fP) :127    # _fP : Finger Pose Vector128    for _ID in POSE_IDS :129        # MSG Structure130        _msg = TPCANMsg()131        _msg.ID  = (_ID << 2) | CAN_ID132        _msg.LEN = 8133        _msg.MSGTYPE = STD_MSG134135        # Finger Pose Set136        _msg.DATA[0] = ((_fP[0])      & 0x00ff)137        _msg.DATA[1] = ((_fP[0] >> 8) & 0x00ff)138139        _msg.DATA[2] = ((_fP[1])      & 0x00ff)140        _msg.DATA[3] = ((_fP[1] >> 8) & 0x00ff)141142        _msg.DATA[4] = ((_fP[2])      & 0x00ff)143        _msg.DATA[5] = ((_fP[2] >> 8) & 0x00ff)144145        _msg.DATA[6] = ((_fP[3])      & 0x00ff)146        _msg.DATA[7] = ((_fP[3] >> 8) & 0x00ff)147148        _ = pcan.Write(_ch, _msg)149150def cmd_set_finger_torque(_ch, _tq, _ind) :151    if _ind == "a" :152        for _ID in TORQUE_IDS :153            # MSG Structure154            _msg = TPCANMsg()155            _msg.ID  = (_ID << 2) | CAN_ID156            _msg.LEN = 8157            _msg.MSGTYPE = STD_MSG158159            # Finger Pose Set160            _msg.DATA[0] = ((_tq[0])      & 0x00ff)161            _msg.DATA[1] = ((_tq[0] >> 8) & 0x00ff)162163            _msg.DATA[2] = ((_tq[1])      & 0x00ff)164            _msg.DATA[3] = ((_tq[1] >> 8) & 0x00ff)165166            _msg.DATA[4] = ((_tq[2])      & 0x00ff)167            _msg.DATA[5] = ((_tq[2] >> 8) & 0x00ff)168169            _msg.DATA[6] = ((_tq[3])      & 0x00ff)170            _msg.DATA[7] = ((_tq[3] >> 8) & 0x00ff)171172            _ = pcan.Write(_ch, _msg)173    else :174        # Set 1 Finger175        _msg     = TPCANMsg()176        _ID      = SET_TORQUE_1177        _msg.ID  = (_ID << 2) | CAN_ID178        _msg.LEN = 8179        _msg.MSGTYPE = STD_MSG180181        _msg.DATA[0] = ((_tq[0])      & 0x00ff)182        _msg.DATA[1] = ((_tq[0] >> 8) & 0x00ff)183184        _msg.DATA[2] = ((_tq[1])      & 0x00ff)185        _msg.DATA[3] = ((_tq[1] >> 8) & 0x00ff)186187        _msg.DATA[4] = ((_tq[2])      & 0x00ff)188        _msg.DATA[5] = ((_tq[2] >> 8) & 0x00ff)189190        _msg.DATA[6] = ((_tq[3])      & 0x00ff)191        _msg.DATA[7] = ((_tq[3] >> 8) & 0x00ff)192193        _ = pcan.Write(_ch, _msg)194195def cmd_set_period(_ch) :196    _ID  =  SET_PERIOD197    _msg = TPCANMsg()198    _msg.ID  = (_ID << 2) | CAN_ID199    _msg.LEN = 6200    _period  = [3, 0, 0]201    _msg.MSGTYPE = STD_MSG202    _msg.DATA[0] = ((_period[0])      & 0x00ff)203    _msg.DATA[1] = ((_period[0] >> 8) & 0x00ff)204    _msg.DATA[2] = ((_period[1])      & 0x00ff)205    _msg.DATA[3] = ((_period[1] >> 8) & 0x00ff)206    _msg.DATA[4] = ((_period[2])      & 0x00ff)207    _msg.DATA[5] = ((_period[2] >> 8) & 0x00ff)208    _ = pcan.Write(_ch, _msg)209    print("Period Set - Done", _period)210211def cmd_servo_on(_ch) :212    _ID  = CMD_SYS_ON213    _msg = TPCANMsg()214    _msg.ID  = (_ID << 2) | CAN_ID215    _msg.LEN = 0216    _msg.MSGTYPE = STD_MSG217    _ = pcan.Write(_ch, _msg)218    print("Servo On - Done")219220def cmd_servo_off(_ch) :221    _ID  = CMD_SYS_OFF222    _msg = TPCANMsg()223    _msg.ID  = (_ID << 2) | CAN_ID224    _msg.LEN = 0225    _msg.MSGTYPE = STD_MSG226    _ = pcan.Write(_ch, _msg)227    print("Servo Off - Done")228229def cmd_hand_preprocess(_ch) :230    cmd_servo_on(_ch)231    print("Hand Ready")232233try :234    # cmd_hand_preprocess(PCAN_CH)235    cmd_set_period(PCAN_CH)236    prev_pos          = np.zeros((1, 4))237    cur_pos_filtered  = np.zeros((1, 4))238    prev_pos_filtered = np.zeros((1, 4))239    prev_vel          = np.zeros((1, 4))240    cur_vel           = np.zeros((1, 4))241242    counter = 0243    while abs(prev_pos[0][0]) < 0.01 :244        prev_pos = np.radians(cmd_req_finger_pose(PCAN_CH, "b"))245        counter += 1246    t1 = time.time()247    print(prev_pos, counter)248    while True :249        cur_pos = np.radians(cmd_req_finger_pose(PCAN_CH, "b"))250        if len(cur_pose) > 0 :251            t2 = time.time()252            elapsed = t2 - t1253            if elapsed > 0.005 :254                t1 = t2255                print(cur_pos, prev_pos, elapsed)256                for i in range(len(cur_pos_filtered.shape[1])) :257                    cur_pos_filtered[0, i] = 0.6 * cur_pos_filtered[0, i] \258                                          + 0.198 * prev_pos[0, i] + 0.198 * cur_pos[0, i]259                    cur_vel[0, i] = (cur_pos_filtered[0, i] - prev_pos_filtered[0, i])/elapsed260                    cur_vel_filtered[0, i] = (0.6 * cur_vel_filtered[0, i]) + \261                                          + (0.198 * prev_vel[0, i]) + (0.198 * cur_vel[0, i])262                    cur_vel[0, i] = (cur_pos[0, i] - prev_pos[0, i])/elapsed263264                    # previous attribute update265                    prev_pos[0, i] = cur_pos[0, i]266                    prev_pos_filtered[0, i] = cur_pos_filtered[0, i]267                    prev_vel[0, i] = cur_vel[0, i]268        else :269            pass270    """271    key = input()272    if key == "1" :273        st = time.time()274        cmd_servo_on(PCAN_CH)275        while time.time() - st < 10 :276            desired_torque = [100, -250, 250, 50]277            cmd_set_finger_torque(PCAN_CH, desired_torque, "a")278    elif key == "2" :279        desried_torque = [0, 0, 0, 0]280        cmd_set_finger_torque(PCAN_CH, desired_torque, "a")281    """282except :283    print("Closed")284    cmd_servo_off(PCAN_CH)
...

Automation Testing Tutorials

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.